CN112478109A - Bernoulli sucking disc suitable for underwater operation - Google Patents
Bernoulli sucking disc suitable for underwater operation Download PDFInfo
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- CN112478109A CN112478109A CN202011193065.4A CN202011193065A CN112478109A CN 112478109 A CN112478109 A CN 112478109A CN 202011193065 A CN202011193065 A CN 202011193065A CN 112478109 A CN112478109 A CN 112478109A
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- adsorption
- propeller
- bernoulli chuck
- bernoulli
- suction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention relates to a Bernoulli chuck suitable for underwater operation, and belongs to the technical field of underwater operation equipment. Including adsorbing the main part and setting up the propeller in adsorbing the main part, the bottom surface of adsorbing the main part is the adsorption plane, and the adsorption plane bottom is equipped with bearing structure for the adsorption plane has certain clearance in the adsorption process and between the adsorbed surface. The ambient flow is generated by a propeller in the propeller and the support structure of the suction surface is used to create a flow gap. In the working process, the sucker can be automatically close to the wall surface to adsorb under the action of the propeller, the circumferential gap flow channel is manufactured by adopting the method of arranging the supporting structure on the adsorbing surface, the adsorbing acting force can be improved, and the adsorbing acting force of the Bernoulli sucker is at least two times of the propeller thrust.
Description
Technical Field
The invention relates to the technical field of underwater operation equipment, in particular to a Bernoulli chuck suitable for underwater operation.
Background
In recent years, as robots are widely used in various fields, special robot technology has been rapidly developed. Unlike industrial and service robots, special robots are oriented to solve difficult problems in the professional field, and therefore need to be refined and enhanced in some special functions and requirements. The underwater wall-climbing robot is a new important branch of a special robot and plays an important role in marine equipment cleaning, underwater structure exploration and water conservancy equipment maintenance. However, how to realize stable adsorption on different types of surfaces has always been one of the research difficulties of underwater wall-climbing robots.
Traditionally underwater robots rely on magnetic adsorption, vacuum adsorption or cyclone negative pressure adsorption to achieve attachment on structures and equipment, however, the adsorption principle all has corresponding defects: the applicable scene of magnetic force adsorption is limited to the surface of ferromagnetic materials and cannot play a role in non-ferromagnetic material structures such as piers, dams and the like; the vacuum adsorption is difficult to get rid of the limitation of a vacuum pump, and the vacuum sucker is easy to leak in an underwater environment, so that the difficulty degree of mechanism design and actual operation is greatly increased; the cyclone negative pressure adsorption relies on a high-pressure water pump or a high-power motor to generate a negative pressure area in the sucker cavity, and has the defects of high power consumption, high noise and the like.
For example, the invention patent publication No. CN110054073A discloses a convex vacuum chuck, which is composed of an air duct, a chuck holder and a chuck membrane. When in use, the whole sucker is pressed on the surface of a target by external force, so that the sucker film is completely attached to the sucker film; then, air in the sucker cavity is sucked through the air suction equipment, so that the sucker membrane is separated from the target surface, and vacuum adsorption is generated. The sucker needs to be pre-tightened by stable external force before acting, which is difficult to be achieved by a submersible vehicle in water flow; meanwhile, the sucker generates vacuum by means of air extraction equipment, and great inconvenience is brought to actual operation or control no matter the air extraction equipment is arranged at a shore-based control end or the robot carries the sucker; in addition, the suction cup cannot cope with a rough surface.
In addition, as disclosed in patent document CN106938691A, the centrifugal impeller type underwater suction cup drives a cylinder-like cavity to rotate by a motor, and a circle of blades are circumferentially arranged on the edge of the inner wall of the cavity, so that a liquid cyclone can be made underwater to form a negative pressure region. The design has the advantages that the structure is simple, the adsorption state is easy to control, the adsorption force and the adsorption area are positively correlated, and if the underwater robot bearing heavy operations such as high-pressure cleaning needs to stably adsorb, a large sucker or a plurality of small suckers are needed, so that the whole mechanism is complex and heavy.
In addition, part of the underwater robots directly attach to the surface of a target structure by using the thrust generated by the propellers of the underwater robots, but the thrust of the conventional propellers is only about 3 kilograms, and the propeller group carried by the common underwater robot is difficult to deal with the work types with strong reaction force such as high-pressure cleaning and rust removal.
Disclosure of Invention
The invention aims to provide a Bernoulli sucker suitable for underwater operation, which has the functions of adsorption and propulsion and solves the problem that a propeller group carried by a common underwater robot is difficult to deal with the work with strong reaction force such as high-pressure cleaning and rust removal.
In order to achieve the purpose, the Bernoulli chuck suitable for underwater operation provided by the invention comprises an adsorption main body and a propeller arranged in the adsorption main body, wherein the bottom surface of the adsorption main body is an adsorption surface, and a support structure is arranged at the bottom of the adsorption surface, so that a certain gap is formed between the adsorption surface and an adsorbed surface in an adsorption process.
In the above technical scheme, the propeller in the propeller generates environmental flow, and the support structure of the adsorption surface is used for manufacturing a flow gap. Since the rough slit wall surface does not greatly affect the high-speed fluid, the adsorption surface provided with the support structure can adapt to the rough surface. In the working process, the sucker can be automatically close to the wall surface to adsorb under the action of the thruster, the thruster is in a water pumping state at the moment, in order to prevent the sucker from being more quickly close to the wall surface after being close to the wall surface and being completely attached to the wall surface to form vacuum adsorption, a method of arranging a supporting structure on the adsorption surface is adopted to manufacture a circumferential gap flow channel, so that the adsorption acting force can be improved, and the adsorption acting force of the Bernoulli sucker is at least twice of the propeller thrust of the Bernoulli sucker.
Optionally, in an embodiment, the adsorption body includes an adsorption channel and an adsorption plate located at a bottom end of the adsorption channel, the propeller is disposed at a top end of the adsorption channel, and the adsorption surface is a bottom surface of the adsorption plate.
Optionally, in an embodiment, the propeller is provided with a duct cooperating with the adsorption channel, and a propeller of the propeller is arranged in the duct.
Optionally, in an embodiment, the duct has a protrusion outside, and the adsorption channel is provided with an avoidance groove matched with the protrusion.
Optionally, in one embodiment, the top of the bypass groove is open, and a bolt for fixing the duct is provided. During installation, the protrusions of the culvert are aligned with the top of the avoiding groove, slide downwards along the top opening of the avoiding groove to the bottom of the avoiding groove, and then the avoiding groove and the protrusions are fixed through bolts.
Optionally, in an embodiment, the support structure is a ball wheel disposed at the bottom of the adsorption surface, and the adsorption body is made of a rigid material.
Optionally, in an embodiment, the support structure is a fan-shaped pillar disposed on the adsorption surface.
In order to adapt to large-curvature adsorption scenes such as offshore platform legs and underwater pipelines, optionally, in one embodiment, the adsorption main body and the fan-shaped struts are made of flexible materials. The material can be silica gel and other easily obtained raw materials, so that the sucker can cover the adsorbed surface as much as possible when the sucker plays a role, and the sucker can normally work on the wall surface with large roughness and large curvature.
The adsorption main body has three manufacturing methods according to applicable scenes, namely three-dimensional printing, mold manufacturing and flexible and solid assembly, and the specific description is as follows:
if the adsorption surface is made of relatively smooth materials such as concrete and the like, three-dimensional printing or mold manufacturing can be adopted to prepare an integrally formed single-material flexible adsorption main body;
if the adsorption surface is a surface which is obviously rough and covered with rust, shells and the like, a flexible body without fan-shaped supporting columns can be manufactured by adopting three-dimensional printing or a die, then the flexible fan-shaped supporting columns with the bottom surfaces are manufactured by metal through machining, and finally the flexible fan-shaped supporting columns and the flexible fan-shaped supporting columns are bonded by strong glue, so that the wear-resistant adsorption main body is obtained.
Optionally, in one embodiment, the gap width is less than 10 mm.
Optionally, in one embodiment, the propeller of the propeller has forward and reverse rotation functions. So that the sucking disc has both the functions of adsorption and propulsion.
Compared with the prior art, the invention has the advantages that:
the invention combines the suction cup with the Bernoulli effect adsorption, has larger adsorption force than the traditional vacuum adsorption and the pure propeller thrust adsorption, can greatly reduce the mechanism redundancy due to the convenient control of the suction cup and the function combination, and is naturally superior to other adsorption modes in the underwater and air operation scenes with medium and low weight levels. The invention has the advantages of easy acquisition of raw materials and parts, convenient manufacture and installation, and convenience for large-scale manufacture and engineering application.
Drawings
FIG. 1 is a schematic diagram of an exploded structure of a rigid Bernoulli chuck in example 1 of the present invention;
FIG. 2 is a front view of a rigid Bernoulli chuck in embodiment 1 of the present invention;
FIG. 3 is an isometric view of a rigid Bernoulli chuck in example 1 of the present invention;
FIG. 4 is a bottom view of a rigid Bernoulli chuck in accordance with example 1 of the present invention;
FIG. 5 is a top view of a rigid Bernoulli chuck in example 1 of the present invention;
FIG. 6 is a schematic view of a rigid Bernoulli chuck during chucking operation in accordance with example 1 of the present invention;
FIG. 7 is a schematic view of a rigid Bernoulli chuck during normal propulsion in accordance with example 1 of the present invention, wherein (a) is a schematic view of the propeller impeller rotating counterclockwise and (b) is a schematic view of the propeller impeller rotating clockwise;
FIG. 8 is a schematic view of the overall structure of a flexible Bernoulli chuck in embodiment 2 of the present invention;
FIG. 9 is a schematic view of the exploded structure of a flexible Bernoulli chuck in example 2 of the present invention;
FIG. 10 is an isometric view of a flexible Bernoulli chuck in embodiment 2 of the invention;
FIG. 11 is a side view of a flexible Bernoulli chuck in embodiment 2 of the present invention;
FIG. 12 is a schematic view of the motion and water flow of a flexible Bernoulli chuck approaching a target surface under the thrust of a propeller in embodiment 2 of the present invention;
FIG. 13(a) is a schematic view of a state in which a flexible Bernoulli chuck is attached to a flat surface in example 2 of the present invention; fig. 13(b) is a schematic view of the state of the flexible bernoulli chuck adsorbed on a rough surface in embodiment 2 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the word "comprise" or "comprises", and the like, in the context of this application, is intended to mean that the elements or items listed before that word, in addition to those listed after that word, do not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Example 1
Referring to fig. 1 to 5, the bernoulli chuck of the present embodiment is a rigid chuck, and includes an adsorption body 100 and a pusher 200 disposed in the adsorption body 100, wherein the adsorption body 100 includes an adsorption channel 101 and an adsorption plate 102.
The propeller 200 is a propeller of various types available in the market, and the propeller 200 of the present embodiment includes a duct 201 cooperating with the adsorption channel 101, a motor (not shown in the figure) enclosed in the duct 201, and a propeller 202. The propeller 202 has forward and reverse rotation functions.
The adsorption channel 101 is provided with a limiting groove 1011 protruding outwards, and the duct 201 is provided with a protrusion 2011 matching with the limiting groove 1011. The top of the limiting groove 1011 is open and is provided with a bolt 1012 for fixing the duct 201. During installation, the protrusion 2011 of the duct 201 is aligned with the top of the limiting groove 1011, and slides downwards to the bottom of the limiting groove 1011 along the top opening of the limiting groove 1011, and then the limiting groove 1011 and the protrusion 2011 are fixed by the bolt 1012.
The bottom surface of the adsorption plate 102 is an adsorption surface, and a support structure is arranged at the bottom of the adsorption surface, the support structure of the embodiment is a ball wheel 300 uniformly arranged on the bottom surface of the adsorption plate 102, and the ball wheel 300 is mounted on the adsorption plate 102 by a threaded connection (a bolt 301 and a nut 302). The height of the ball wheel 300 is less than 10mm so that the height of the gap between the suction surface and the sucked surface (i.e., the gap for generating the bernoulli effect) is less than 10 mm. On the other hand, the ball wheel 300 can provide the suction cup with a certain moving performance. The connection between the adsorption plate 102 and the adsorption channel 101 is provided with a rounded corner 400 for facilitating the fluid to enter the adsorption channel 101.
The bernoulli chuck of the present embodiment can be used for both the suction and propulsion purposes depending on the rotation direction of the propeller 202, and it is specified that the water flow is discharged upward from the lower suction plate 102 when the propeller 202 rotates counterclockwise and vice versa when it rotates clockwise (see fig. 7).
The suction plate 102 is close to the surface to be sucked, the blades of the propeller 202 in the propeller 200 are controlled to rotate counterclockwise, the suction cup is quickly close to the surface to be sucked due to the thrust action of the propeller 200, and the ball wheel 300 contacts the suction surface before the bottom of the suction cup, and a gap of a fixed size is provided between the bottom of the suction cup and the surface to be sucked.
Fig. 6 is a schematic diagram showing the operation of sucking the suction cup on the surface to be sucked. After the suction cup is stabilized on the surface to be sucked, the outside water is pumped into the gap between the bottom of the suction cup and the wall surface due to the high-speed rotation of the blades of the propeller 202, and the water flows rapidly in the gap, then flows into the suction channel 101 of the suction cup, and is discharged to the outside basin from the top of the suction channel 101.
Since the water flow rapidly flows between the adsorption plate 102 and the wall to be adsorbed, according to the bernoulli effect, the rapidly flowing fluid forms a negative pressure region between the adsorption plate 102 and the wall to be adsorbed, and further generates a certain pressure difference on the working surface, that is, a negative pressure region is formed between the adsorption plate 102 and the wall to be adsorbed, the pressure difference has a direct relationship with the rotation speed of the propeller 202, and the larger the rotation speed of the propeller 202 is, the faster the fluid flow is, the larger the pressure difference is. The rounded corners 400 serve a general purpose bypass to assist in creating additional suction.
Because of the pressure difference, the suction cup is forced to be pressed on the sucked wall surface by the external fluid pressure, but because of the existence of the ball wheel 300, the suction plate 102 and the sucked surface always keep a gap with a fixed size, and the bernoulli effect of the whole suction cup sucking system, the suction force of the suction cup of the embodiment can reach more than 3 times of the original propelling force of the propeller 200 under the same power, and larger suction force can be provided under smaller power consumption. Meanwhile, the ball wheel 300 can enable the sucker to have certain moving performance on the adsorbed wall surface.
When the suction cup needs to be separated from the suction surface, the propeller 200 is simply stopped or rotated in the reverse direction. In the free fluid area far away from the adsorbed wall surface, the sucker can be used as a common propeller, and the experimental result shows that the adsorption plate 102 cannot generate large influence on the thrust of the original propeller. The forward or backward movement as a whole is achieved by controlling the forward and reverse rotational movement of the propeller blades in the propeller 200 (see fig. 7).
Example 2
Referring to fig. 8 to 11, the bernoulli chuck of the present embodiment is a flexible chuck, and includes an adsorption body 100 and a pusher 200 disposed in the adsorption body 100, wherein the adsorption body 100 includes an adsorption channel 101 and an adsorption plate 102.
The adsorption plate 102 is made of flexible material, and the propeller 200 and the adsorption plate 102 can be adhered by super glue and are fixedly connected by bolts in a reinforced way. The thruster 200 of the present embodiment comprises a duct 201 cooperating with the adsorption channel 101, a motor (not shown in the figures) housed inside the duct 201, and a propeller 202. The propeller 202 has forward and reverse rotation functions.
The duct 201 of this embodiment has a protrusion 2011 outside, and the adsorption channel 101 is provided with an avoiding groove 1011 matching with the protrusion 2011. The top of the avoiding groove 1011 is open and provided with a bolt 1012 for fixing the duct 201. During installation, the protrusion 2011 of the duct 201 is aligned with the top of the avoiding groove 1011, slides downwards to the bottom of the avoiding groove 1011 along the top opening of the avoiding groove 1011, and then is fixed by the bolt 1012 to the avoiding groove 1011 and the protrusion 2011.
The bottom surface of the adsorption plate 102 is an adsorption surface, and a support structure is disposed at the bottom of the adsorption surface, and the support structure of the embodiment is a sector pillar 1021 disposed on the adsorption surface.
Referring to fig. 12 and 13, the propeller 202 of the propeller 200 is defined to be in a suction state from the bottom of the suction cup when rotated in the direction shown. Referring to fig. 12, the flexible bernoulli chuck moves toward the flat suction surface 001 by the propeller 202 of the propeller 200, and the water flows through the suction passage 101 and the duct 201 and flows in the direction of the arrow in the figure. According to the bernoulli principle, when the flexible bernoulli chuck is close to the flat adsorption surface 001, a certain pressure drop is generated on the working surface by the high-speed fluid, that is, a negative pressure area is formed between the bottom of the chuck and the adsorbed wall surface, the pressure drop is directly related to the rotating speed of the propeller 202, the larger the rotating speed of the propeller 202 is, the faster the fluid flow speed is, the larger the generated pressure difference is, and the chuck is forced to be pressed on the flat adsorption surface 001 by the environmental fluid.
Referring to fig. 13(a), the flexible bernoulli chuck is attracted to the flat attraction surface 001 under the dual action of a pushing force and an attraction force. Due to the close adsorption, the flexible folds of the adsorption plate 102 deform and adhere to the flat adsorption surface 001. At this time, the fluid flows into the adsorption passage 101 through the gap flow channel between the fan-shaped support 1021 and the flat adsorption surface 001, and flows in the direction of the arrow in the figure;
referring to fig. 13(b), the flexible bernoulli chuck can also function on the rough adsorption surface 002 or the adsorption surface with a certain curvature, because the rough surface of the underwater engineering material such as concrete does not have a large influence on the fluid movement;
when the suction cup needs to be desorbed, the suction cup can be disengaged without hindrance only by stopping or reversing the propeller 202. Experimental results show that the addition of the adsorption plate 102 does not significantly affect the propulsion function of the propeller 200.
In this embodiment, the propeller 200 may be obtained by directly purchasing a commercial product, and may be an aerial propeller for an unmanned aerial vehicle or an underwater propeller for an underwater vehicle. The propeller is required to be purchased with a duct covering the propeller, and the duct has a flat outer surface with fastening areas, thereby facilitating assembly.
The adsorption plate 102 has three manufacturing methods according to applicable scenes, namely three-dimensional printing, mold manufacturing and flexible assembly, and the following are specifically described:
(1) if the adsorption surface is made of relatively smooth materials such as concrete and the like, three-dimensional printing or mold manufacturing can be adopted to prepare an integrally formed single-material flexible adsorption action plate;
(2) if the adsorption surface is obviously rough surface covered with rust, shells and the like, a flexible body without bottom surface wrinkles is prepared by three-dimensional printing or die manufacturing, then the bottom surface support pillar flexibility is manufactured by metal through machining, and finally the two are bonded by strong glue, so that the wear-resistant adsorption action plate is obtained.
Claims (10)
1. The utility model provides a Bernoulli's sucking disc suitable for underwater operation, is in including adsorbing the main part and setting adsorb the internal propeller of main part, its characterized in that, the bottom surface of adsorbing the main part is the adsorption plane, the adsorption plane bottom is equipped with bearing structure for the adsorption plane has certain clearance in the adsorption process and between the adsorbed surface.
2. The Bernoulli chuck according to claim 1, wherein said adsorption body comprises an adsorption channel and an adsorption plate at the bottom end of said adsorption channel, said propeller is disposed at the top end of said adsorption channel, and said adsorption surface is the bottom surface of said adsorption plate.
3. A bernoulli chuck according to claim 2 suitable for use in underwater operations, wherein the thruster is provided with a duct cooperating with the suction channel, the propeller of the thruster being arranged within the duct.
4. The Bernoulli chuck according to claim 3, wherein the duct has a protrusion thereon, and the suction channel has an avoiding groove thereon for engaging with the protrusion.
5. The Bernoulli chuck for underwater operation as claimed in claim 4, wherein the top of the bypass groove is open and is provided with a bolt for fixing the duct.
6. A bernoulli chuck according to claim 1, wherein said support structure is a ball wheel disposed at the bottom of said suction surface, and said suction body is made of a rigid material.
7. A bernoulli chuck according to claim 1, wherein said support structure is a sector shaped post disposed on said suction surface.
8. A Bernoulli chuck according to claim 7, wherein said suction body and said sector struts are made of a flexible material.
9. A bernoulli chuck according to claim 1, wherein the gap width is less than 10 mm.
10. A bernoulli chuck according to claim 1, wherein the propeller of the thruster has forward and reverse rotation capability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011193065.4A CN112478109A (en) | 2020-10-30 | 2020-10-30 | Bernoulli sucking disc suitable for underwater operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011193065.4A CN112478109A (en) | 2020-10-30 | 2020-10-30 | Bernoulli sucking disc suitable for underwater operation |
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| Publication Number | Publication Date |
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| CN112478109A true CN112478109A (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011193065.4A Pending CN112478109A (en) | 2020-10-30 | 2020-10-30 | Bernoulli sucking disc suitable for underwater operation |
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| CN (1) | CN112478109A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013610A (en) * | 2021-09-18 | 2022-02-08 | 浙江大学 | Centrifugal impeller type Bernoulli sucker suitable for underwater operation |
| CN114435501A (en) * | 2022-01-12 | 2022-05-06 | 浙江大学 | Amphibious micro-milling forming adsorption mechanism with microneedle array |
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| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN210236835U (en) * | 2018-08-09 | 2020-04-03 | 昆山迈瑞凯精密工业有限公司 | Bernoulli sucker for fixing air path |
| CN210599474U (en) * | 2019-08-14 | 2020-05-22 | 河海大学 | Underwater wall surface adsorption device |
| CN111232077A (en) * | 2020-01-16 | 2020-06-05 | 宋承宣 | Positive and negative paddle negative pressure adsorption device based on Bernoulli principle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101412415A (en) * | 2008-11-27 | 2009-04-22 | 北京理工大学 | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN210236835U (en) * | 2018-08-09 | 2020-04-03 | 昆山迈瑞凯精密工业有限公司 | Bernoulli sucker for fixing air path |
| CN210599474U (en) * | 2019-08-14 | 2020-05-22 | 河海大学 | Underwater wall surface adsorption device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013610A (en) * | 2021-09-18 | 2022-02-08 | 浙江大学 | Centrifugal impeller type Bernoulli sucker suitable for underwater operation |
| CN114435501A (en) * | 2022-01-12 | 2022-05-06 | 浙江大学 | Amphibious micro-milling forming adsorption mechanism with microneedle array |
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